
#pragma once
#include <opencv2/opencv.hpp>

#include <math.h>
#include <stdlib.h>

#include <iostream>
using namespace std;
using namespace cv;
class TSDF;
class kin
{
private:
    /* data */
public:
    Mat poses, idx, ALLpaths_rgbs;
    Mat rdp, norm;
    cv::Mat vdep;
  cv::Mat rgb ;
    vector<string> paths_rgbs;
    vector<string> paths_deps;
    int *pindx;
    float *pfsss;
    TSDF *ptsdf;
    int i = 0;
    kin(/* args */);
    void runall();
void run(const cv::Mat &rgb,const cv::Mat &depth,cv::Affine3f pose);

    ~kin();
};
